videoio: Support Orbbec Astra 3D cameras using OpenNI2 API

Only depth sensor is supported. Color sensor is accessible as a
regular UVC camera.

modules/videoio/include/opencv2/videoio.hpp

@@ -112,6 +112,7 @@ enum VideoCaptureAPIs {
        CAP_REALSENSE    = 1500,         //!< Synonym for CAP_INTELPERC
        CAP_OPENNI2      = 1600,         //!< OpenNI2 (for Kinect)
        CAP_OPENNI2_ASUS = 1610,         //!< OpenNI2 (for Asus Xtion and Occipital Structure sensors)
+       CAP_OPENNI2_ASTRA= 1620,         //!< OpenNI2 (for Orbbec Astra)
        CAP_GPHOTO2      = 1700,         //!< gPhoto2 connection
        CAP_GSTREAMER    = 1800,         //!< GStreamer
        CAP_FFMPEG       = 1900,         //!< Open and record video file or stream using the FFMPEG library
@@ -825,7 +826,7 @@ public:
     @throws Exception %Exception on stream errors (check .isOpened() to filter out malformed streams) or VideoCapture type is not supported
 
     The primary use of the function is in multi-camera environments.
-    The method fills the ready state vector, grabbs video frame, if camera is ready.
+    The method fills the ready state vector, grabs video frame, if camera is ready.
 
     After this call use VideoCapture::retrieve() to decode and fetch frame data.
     */

modules/videoio/src/cap_openni2.cpp

@@ -103,7 +103,7 @@ private:
 class CvCapture_OpenNI2 : public CvCapture
 {
 public:
-    enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_MAX=1 };
+    enum { DEVICE_DEFAULT=0, DEVICE_MS_KINECT=0, DEVICE_ASUS_XTION=1, DEVICE_ORBBEC_ASTRA=2, DEVICE_MAX=2 };
 
     static const int INVALID_PIXEL_VAL = 0;
     static const int INVALID_COORDINATE_VAL = 0;
@@ -116,6 +116,7 @@ public:
     CvCapture_OpenNI2(const char * filename);
     virtual ~CvCapture_OpenNI2();
 
+    virtual int getCaptureDomain() CV_OVERRIDE { return cv::CAP_OPENNI2; }
     virtual double getProperty(int propIdx) const CV_OVERRIDE;
     virtual bool setProperty(int probIdx, double propVal) CV_OVERRIDE;
     virtual bool grabFrame() CV_OVERRIDE;
@@ -261,7 +262,8 @@ CvCapture_OpenNI2::CvCapture_OpenNI2(int index, const char * filename) :
             index %= 10;
         }
         // Asus XTION and Occipital Structure Sensor do not have an image generator
-        needColor = (deviceType != DEVICE_ASUS_XTION);
+        // Orbbec Astra cameras don't provide OpenNI interface for color stream reading
+        needColor = (deviceType != DEVICE_ASUS_XTION) && (deviceType != DEVICE_ORBBEC_ASTRA);
 
         // find appropriate device URI
         openni::Array<openni::DeviceInfo> ldevs;
@@ -300,6 +302,11 @@ CvCapture_OpenNI2::CvCapture_OpenNI2(int index, const char * filename) :
     setProperty(CV_CAP_PROP_OPENNI2_MIRROR, 0.0);
 
     isContextOpened = true;
+
+    CV_LOG_INFO(NULL, cv::format("Opened OpenNI camera: %s %s (%04x:%04x)",
+                      device.getDeviceInfo().getVendor(), device.getDeviceInfo().getName(),
+                      device.getDeviceInfo().getUsbVendorId(), device.getDeviceInfo().getUsbProductId())
+    );
 }
 
 CvCapture_OpenNI2::~CvCapture_OpenNI2()